Work information setting system, work information setting program, and work information setting method

Abstract

To provide a work information setting system capable of reducing effort and time for instructing location information used for automatic control of a work machine.SOLUTION: A work information setting system 1 includes: an input unit 41 for inputting information used for controlling work position setting; and a display unit 43 for outputting the information for controlling the work position setting. The work position setting control sets work information D. The work information D includes location information (W) used when the work machine 10 performs the work. The work position setting controls a storage unit 50b to store the set work information D and to display the work information D stored in the storage unit 50b selectively by the input unit 41 on the output unit 43. The work information setting control sets the work information D selected by the input unit 41 as the work information D that is used for the work by the work machine 10.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a work information setting system, a work information setting program, and a work information setting method for setting work information used in work by a work machine. [Background technology]

[0002] For example, Patent Document 1 describes that an operator operates a work machine to set position information used for work by the work machine (see paragraph 0032 of Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-55296 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the invention described in Patent Document 1, the worker needs to operate the work machine in order to set the position information used in the work of the work machine, which requires time and effort for this setting work.

[0005] Therefore, an object of the present invention is to provide a work information setting system, a work information setting program, and a work information setting method that can reduce the effort and time required to set position information used in work by a work machine. [Means for solving the problem]

[0006] The work information setting system includes an input unit and an output unit. Information used for work information setting control is input to the input unit. The output unit outputs information for the work information setting control. The work information setting control sets work information including position information used when a work machine works. The work information setting control stores the set work information in a memory unit. The work information setting control displays the work information stored in the memory unit on the output unit so that it can be selected by the input unit. The work information setting control sets the work information selected by the input unit as the work information to be used for work by the work machine.

[0007] The work information setting program causes a computer to execute a work information setting step, a storage step, a display selection step, and an application step. The work information setting step sets work information including position information used when a work machine works. The storage step stores the work information set in the work information setting step in a storage unit. The display selection step displays the work information stored in the storage step on an output unit so as to be selectable by an input unit. The application step sets the work information selected in the display selection step as the work information to be used for work by the work machine.

[0008] The work information setting method includes a work information setting step, a storage step, a display selection step, and an application step. The work information setting step sets work information including position information to be used when a work machine works. The storage step stores the work information set in the work information setting step in a storage unit. The display selection step displays the work information stored in the storage step on an output unit so as to be selectable by an input unit. The application step sets the work information selected in the display selection step as the work information to be used for work by the work machine. Effect of the Invention

[0009] Each of the above-described work information setting system, work information setting program, and work information setting method can reduce the effort and time required to set position information used in work by a work machine. [Brief description of the drawings]

[0010] [Figure 1] FIG. 2 is a side view of the work machine 10 and other components of the work information setting system 1. [Diagram 2] FIG. 1 is a block diagram of a work information setting system 1. [Diagram 3] 3 is a flowchart showing processing of work information D by the controller 50 shown in FIG. 2. [Figure 4] 2 is a diagram showing the display of the output unit 43 shown in FIG. 1, showing the display before the working position W is set. FIG. [Diagram 5] 2 is a diagram showing a working position W of the working machine 10 shown in FIG. 1 as viewed from above. [Figure 6] 6 is a diagram showing a display on the output unit 43 shown in FIG. 1 when the working position W shown in FIG. 5 is manually set. FIG. [Figure 7] 6 is a diagram showing the display of the output unit 43 shown in FIG. 1 when the working position W shown in FIG. 5 is preset. FIG. [Figure 8] 1. FIG. 4 is a diagram showing the display of the output unit 43 shown in FIG. 1, showing a management screen of work information D. [Figure 9] FIG. 2 is a diagram showing the display of the output unit 43 shown in FIG. 1, showing a status display G1 and the like. [Figure 10] 1 before the work machine 10 is moved to the target position T shown in FIG. 9. FIG. [Figure 11] 2 is a diagram showing a display of the output unit 43 shown in FIG. 1, showing a restricted area preset setting selection screen. FIG. [Figure 12] 2 is a diagram showing a display of the output unit 43 shown in FIG. 1, showing a restricted area setting screen for setting a restricted area R. FIG. [Figure 13]2 is a diagram showing a display of the output unit 43 shown in FIG. 1, showing a restricted area confirmation screen for confirming the set restricted area R. FIG. [Figure 14] 3 is a flowchart of processing of a restricted area R by the controller 50 shown in FIG. 2. [Figure 15] 2 is a diagram showing the display of the output unit 43 shown in FIG. 1, showing a work machine registration screen. FIG. [Figure 16] 1. FIG. 4 is a diagram showing a display of the output unit 43 shown in FIG. 1, showing a setting impossible notification screen. [Figure 17] 3 is a flowchart of a process of the controller 50 shown in FIG. 2 as to whether or not work information D can be set. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] (First embodiment) A work information setting system 1 according to a first embodiment will be described with reference to FIGS. 1 to 8. FIG.

[0012] The work information setting system 1 is a system that sets information (work information D) relating to work of the work machine 10 shown in Fig. 1. The work information setting system 1 is a system that applies stored work information D to work of the work machine 10. The work information setting system 1 includes the work machine 10, an attitude sensor 20 (see Fig. 2), an imaging device 30 (see Fig. 2), an information processing device 40, and a controller 50 (see Fig. 2).

[0013] The work machine 10 is a machine that performs work. The work machine 10 may be a construction machine that performs construction work. The work machine 10 may be, for example, a shovel or a crane. The following describes the case where the work machine 10 is a shovel. The work machine 10 may be configured to be capable of automatic operation. The work machine 10 may be operated by a worker (operator) in the cab 13a, or may be remotely operated. The work machine 10 includes a machine body 10a, an attachment 15, a drive control unit 17 (see FIG. 2), and a communication unit 19.

[0014] The machine body 10a is a main body portion of the work machine 10. The machine body 10a includes a lower body 11 and an upper rotating body 13.

[0015] The lower body 11 supports the upper rotating body 13. For example, the lower body 11 is a lower traveling body that can travel on a traveling surface (such as the ground). In this case, the lower body 11 may be equipped with crawlers or wheels.

[0016] The upper rotating body 13 is rotatable relative to the lower body 11. The upper rotating body 13 is rotatably mounted on the lower body 11. An attachment 15 is attached to the upper rotating body 13. The upper rotating body 13 includes a cab 13a. The cab 13a is an area where an operator can operate the work machine 10. The center of rotation of the upper rotating body 13 relative to the lower body 11 is a rotation center 13b (see FIG. 10).

[0017] (direction) The direction in which the axis of rotation of the upper rotating body 13 relative to the lower body 11 extends is defined as the up-down direction Z. The direction in which the axis of rotation of the attachment 15 (more specifically, the boom 15a) relative to the upper rotating body 13 extends is defined as the lateral direction. The direction intersecting (e.g., perpendicular to) the lateral direction and the up-down direction Z is defined as the front-rear direction X.

[0018] The attachment 15 is a device that performs work. The attachment 15 is attached to the machine body 10a and to the upper rotating body 13. For example, the attachment 15 includes a boom 15a, an arm 15b, a tip attachment 15c, and a specific portion 15d. The boom 15a is attached to the upper rotating body 13 so as to be able to rise and fall (rotatable in the front-back direction X and the up-down direction Z). The arm 15b is attached to the boom 15a so as to be able to rotate (rotatable in the front-back direction X and the up-down direction Z).

[0019] The tip attachment 15c is a part that performs work. The tip attachment 15c is provided at the tip of the attachment 15. The tip attachment 15c is rotatably attached to the arm 15b (rotatable in the forward / backward direction X and the upward / downward direction Z). The tip attachment 15c may be, for example, a bucket that can perform work such as scooping and excavating a work object. The tip attachment 15c may be a device that clamps the work object (grapple, nibbler, etc.), a device that crushes the work object (breaker, etc.), or a magnet that attracts a metal work object. The work object that is the target of work by the tip attachment 15c may be, for example, soil, stone, wood, metal, resin, waste, or a structure (block, etc.).

[0020] The specific part 15d is a specific part of the attachment 15. When the work machine 10 is controlled or operated based on the work position W, it is controlled or operated so that the specific part 15d is located at a target position (for example, a target path Wp (see FIG. 5)) (details will be described later). For example, the specific part 15d may be the tip of the tip attachment 15c (the end farther from the arm 15b) or the base end of the tip attachment 15c (the tip of the arm 15b).

[0021] The drive control unit 17 (see FIG. 2) controls an actuator that moves the work machine 10. The drive control unit 17 may include a hydraulic circuit that controls a hydraulic actuator, or an electric circuit that controls an electric actuator. The drive control unit 17 controls a rotation motor that rotates the upper rotating body 13 relative to the lower body 11. The drive control unit 17 controls a boom cylinder that raises and lowers the boom 15a relative to the upper rotating body 13. The drive control unit 17 controls an arm cylinder that rotates the arm 15b relative to the boom 15a. The drive control unit 17 controls a tip attachment cylinder (e.g., a bucket cylinder) that rotates the tip attachment 15c relative to the arm 15b.

[0022] The communication unit 19 communicates between the work machine 10 and equipment arranged outside the work machine 10. For example, the communication unit 19 communicates between the work machine 10 and an information processing device 40. For example, when the imaging device 30 is arranged outside the work machine 10, the communication unit 19 communicates between the work machine 10 and the imaging device 30. The communication unit 19 may perform wireless communication or wired communication.

[0023] The attitude sensor 20 (see FIG. 2) detects the attitude of the work machine 10. The attitude sensor 20 may detect the position and orientation of the work machine 10 relative to the work site. The attitude sensor 20 may detect the position and orientation of a reference part of the work machine 10 relative to the work site. The reference part of the work machine 10 may be, for example, a specific part of the upper rotating body 13 or the lower body 11, and may be, for example, the attachment part (boom foot) of the boom 15a to the upper rotating body 13. The attitude sensor 20 may detect the inclination of the work machine 10 with respect to the horizontal plane. The attitude sensor 20 may detect information on the rotation of the upper rotating body 13 with respect to the lower body 11.

[0024] The attitude sensor 20 may detect information on the rotation of the boom 15a relative to the upper rotating body 13 (such as a rotation angle). The attitude sensor 20 may detect information on the rotation of the arm 15b relative to the boom 15a. The attitude sensor 20 may detect information on the rotation of the bucket relative to the arm 15b. The attitude sensor 20 may be equipped with a sensor that detects an angle (e.g., a rotary encoder), may be equipped with a sensor that detects an inclination relative to the horizontal direction, or may be equipped with a sensor that detects a stroke of a cylinder that drives the attachment 15. The attitude sensor 20 may detect the attitude of the work machine 10 based on one or both of two-dimensional information (described later) and three-dimensional information (described later). In this case, one or both of the two-dimensional information and the three-dimensional information may be captured by an imaging device 30 (described later). The attitude sensor 20 may be mounted on the work machine 10, or may be disposed outside the work machine 10 (e.g., at a work site, etc.). The same can be said for the imaging device 30, the information processing device 40, and the controller 50, which may be mounted on the work machine 10 or disposed outside the work machine 10.

[0025] The imaging device 30 captures an image of an object to be imaged. For example, the object to be imaged by the imaging device 30 may include the work machine 10, or may include an object (surrounding object) around the work machine 10. The imaging device 30 may detect two-dimensional information of the object to be imaged (e.g., a position, a shape, etc. in a two-dimensional image). The imaging device 30 may detect three-dimensional information of the object to be imaged (e.g., three-dimensional coordinates, a three-dimensional shape, a distance image (an image having depth information), etc.). The imaging device 30 may be of a passive type or an active type. Specifically, the imaging device 30 may be equipped with a camera (monocular camera) that detects two-dimensional information. The imaging device 30 may be equipped with a stereo camera that detects three-dimensional information. The imaging device 30 may detect three-dimensional information of the object to be imaged by irradiating waves such as electromagnetic waves to the object to be imaged and detecting the reflected waves. The imaging device 30 may be equipped with a TOF (Time Of Flight) sensor that detects the distance based on the time from when the wave is irradiated to when the reflected wave returns, or may be equipped with a sensor that detects the distance based on the frequency of the reflected wave. The imaging device 30 may include a device that detects three-dimensional information using light (e.g., laser light), and may include, for example, LiDAR (Light Detection and Ranging). The imaging device 30 may include a device that detects three-dimensional information using radio waves (e.g., millimeter wave radar, etc.). Only one imaging device 30 may be provided, or multiple imaging devices 30 may be provided. Only one type (method, etc.) of imaging device 30 may be used, or multiple types of imaging devices 30 may be combined. The imaging device 30 may detect three-dimensional information of an imaging target based on three-dimensional information (e.g., a distance image) and two-dimensional information (e.g., a two-dimensional image).

[0026] The information processing device 40 is a device that performs processing related to work of the work machine 10. The information processing device 40 is a device that performs processing related to work information D (see FIG. 8). The information processing device 40 may be, for example, a tablet, a smartphone, or a personal computer. The information processing device 40 may be arranged outside the work machine 10. The information processing device 40 may be communicatively connected to the work machine 10 via the communication unit 19. The information processing device 40 may be arranged inside the work machine 10 (for example, inside the driver's cab 13a). The information processing device 40 includes an input unit 41 and an output unit 43.

[0027] The input unit 41 is a device for inputting information. The input unit 41 is a portion into which information used for work information setting control, which will be described later, is input. The input unit 41 issues instructions to the controller 50. For example, the input unit 41 is a device that is operated by a worker (accepts the operation of the worker) and through which the worker inputs information. The input unit 41 issues instructions to the controller 50 based on the operation of the worker. Specifically, the input unit 41 may include a touch panel, a mouse, or a keyboard.

[0028] The output unit 43 is an output device that outputs information. The output unit 43 displays information. The output unit 43 outputs information for work information setting control, which will be described later. The output unit 43 displays information based on a signal output from the controller 50. Specifically, the output unit 43 is a device (monitor) that displays images. The output unit 43 may be a device that utilizes technology such as VR (Virtual Reality) or AR (Augmented Reality).

[0029] As shown in FIG. 2, the controller 50 is a computer that performs input and output of signals, calculations (processing), storage of information, etc. For example, the functions of the controller 50 are realized by executing a program stored in the storage unit 50b in the calculation unit 50a. The controller 50 and other devices may be connected by wireless communication or by wired communication. When the controller 50 has a plurality of components, the components of the controller 50 may be connected to each other by wireless communication or by wired communication. For example, detection results are input to the controller 50 from the attitude sensor 20 and the imaging device 30. For example, the controller 50 (operation command unit 53 described later) may perform automatic operation of the work machine 10. The controller 50 performs work information setting control (described later). The controller 50 may be distributed and disposed in a plurality of parts (may constitute a distributed system). The controller 50 may be mounted on the work machine 10 or may be disposed outside the work machine 10. The controller 50 may be disposed in the information processing device 40. The controller 50 may be disposed outside the work machine 10 and outside the information processing device 40 (for example, on a server, etc.). The controller 50 includes a calculation unit 50a and a storage unit 50b. Focusing on the functions of the controller 50, the controller 50 includes a work information setting unit 51 and an operation command unit 53.

[0030] The calculation unit 50a calculates (processes) information. The storage unit 50b stores information. The storage unit 50b stores, for example, work information D (see FIG. 8) described later. The work information setting unit 51 sets the work information D.

[0031] 2, the operation command unit 53 outputs a command (signal) to operate the work machine 10 to the drive control unit 17. For example, the operation command unit 53 may control the work machine 10 so that the work machine 10 moves in accordance with work information D set in the work information setting unit 51 (described later). In this case, the operation command unit 53 controls the movement of the work machine 10 based on the detection value of the attitude sensor 20.

[0032] (Activation) The work information setting system 1 is configured to operate as follows. The work information setting program causes the controller 50 to execute processing that causes the work information setting system 1 to perform the following operations. The work information setting method is performed as follows. Each operation of the work information setting system 1 may be considered as a "step" in the work information setting program and the work information setting method. Furthermore, hereinafter, the work machine 10 and the components of the work machine 10 will be described mainly with reference to FIG. 1, and the controller 50 and the components of the controller 50 will be described with reference to FIG. 2.

[0033] (Operation of the work machine 10) As described above, the work machine 10 shown in FIG. 1 may be operated by an operator in the cab 13a, may be remotely operated by an operator from outside the work machine 10 (remote control device), or may be automatically operated.

[0034] The work machine 10 is a machine (e.g., ICT construction machine) that utilizes information and communication technology (ICT). For example, the work machine 10 may be operated by an operator using a machine guidance (MG) system function. Specifically, a work plan is set in a work plan setting unit 55a. Then, guidance such as the position where work should be done is shown to the operator so that the work machine 10 can work according to the work plan. This guidance is output, for example, to an output device (not shown) provided in the cab 13a of the work machine 10 or a remote control device. Then, the operator operates the work machine 10 according to the guidance. As a result, the work machine 10 works according to the work plan.

[0035] Also, for example, the work machine 10 may be operated by a machine control (MC) system. Specifically, a work plan is set in the work plan setting unit 55a. Then, the worker operates, for example, only some of the elements of the attachment 15 (for example, only the boom 15a). At this time, the controller 50 (operation command unit 53) automatically controls the elements not operated by the worker (for example, the arm 15b, the tip attachment 15c) so that the work machine 10 works according to the work plan. At this time, the controller 50 controls the operation of the work machine 10 based on the detection value of the attitude sensor 20 (see FIG. 2) (the same applies in the case of automatic operation). As a result, the work machine 10 works according to the work plan.

[0036] Also, for example, the work machine 10 may be operated by automatic operation. In this case, the controller 50 (operation command unit 53) controls the operation of the work machine 10 so that the work machine 10 automatically works according to a work plan.

[0037] (Work information setting control) The controller 50 controls the setting of work information. The following processes of the controller 50 are performed based on the work information setting control.

[0038] (Work information D) The controller 50 (more specifically, the work information setting unit 51) sets work information D used when the work machine 10 shown in Fig. 5 performs work (work information setting step, see step S10 in Fig. 3). The work information D is information related to the work of the work machine 10 (more specifically, the target of the work). The work information D includes the work position W. The work information D may further include information different from the work position W (see the explanation of the preset data described later).

[0039] (Working position W) The controller 50 sets a work position W. The work position W is position information used when the work machine 10 performs work.

[0040] The parameter representing the work position W can be set in various ways, and may be set in any way as long as it is a parameter from which the attitude of the work machine 10 can be derived. The coordinate axis of the parameter representing the work position W may be set in any way. The origin (reference position) of this coordinate axis may be set at the work site. The origin of this coordinate axis may be set at a specific part of the work machine 10, for example, at a specific part of the upper rotating body 13. Specifically, for example, the origin of this coordinate axis may be set at the attachment part (boom foot pin) of the boom 15a to the upper rotating body 13, or may be set at the rotation center 13b (see FIG. 10) of the upper rotating body 13 relative to the lower main body 11. Specifically, the work position W may include information on the front-rear direction X, the up-down direction Z, the rotation angle of the upper rotating body 13 relative to the lower main body 11, and the angle (attitude) of the tip attachment 15c, as shown in FIG. 1. The information on the angle of the end attachment 15c may be, for example, information on the angle of the end attachment 15c with respect to the horizontal direction, or information on the angle of the end attachment 15c with respect to the arm 15b.

[0041] (Type of working position W) The controller 50 can set various types of work positions W, as shown in FIG. 5. Information on the type of work position W (work item) may be included in the work information D. The work position W may include information on a target route for the travel of the work machine 10. The work position W may include information on a target position where the end attachment 15c will perform work. It may include information on a work range Wa where the end attachment 15c will perform work. The work range Wa may include a capture work position Wa1 and a release work position Wa3. The work position W may include information on a target path Wp of the specific portion 15d of the attachment 15.

[0042] The capturing operation position Wa1 is a position where the tip attachment 15c captures the work target. For example, the capturing operation position Wa1 may be a position where the tip attachment 15c (e.g., a bucket) excavates earth and sand (digging position, excavation area).

[0043] The release operation position Wa3 is a position where the tip attachment 15c releases the work target. For example, the release operation position Wa3 is a position where the tip attachment 15c (e.g., a bucket) discharges earth and sand (earth discharge position, earth discharge area).

[0044] The target path Wp is a path targeted by the specific portion 15d of the tip attachment 15c. The target path Wp is information including, for example, information on the positions (coordinates) of a plurality of target points and information on the order of each target point. For example, the target path Wp may be a path between the capture operation position Wa1 and the release operation position Wa3.

[0045] Time information may be added to the information of the target path Wp. Information in which time information has been added to the target path Wp is called a target trajectory. The above-mentioned "time information" is specifically, for example, the time between two points. The time between two points is a target value for the movement time of the specific part 15d between two adjacent (sequential) target points. The above-mentioned "time information" may be information on the time of day, etc. By adjusting the above-mentioned "time information", the target movement speed of the specific part 15d is adjusted.

[0046] In addition, among the above types of work positions W, only one type may be set, or multiple types may be set. For example, the capture work position Wa1 may be set, and the release work position Wa3 may not be set. Also, a type of work position W different from the above types may be set.

[0047] (Shape and number of work positions W) The shape of the work position W can be set in various ways. For example, the work position W may be a point, a line, or a range. Specifically, each of the capture work position Wa1 and the release work position Wa3 is, for example, a range. The target path Wp is, for example, a line. Also, only one work position W may be set, or multiple work positions W may be set. Multiple work positions W of the same type (for example, multiple capture work positions Wa1, etc.) may be set.

[0048] (Setting work information D) There are two methods for setting the work information D: manual setting and preset setting. For example, as shown in FIG. 4, the output unit 43 may display a setting method selection section B1. The setting method selection section B1 is displayed so that whether the work information D is set by manual setting or by preset setting can be selected by input from the input section 41. Note that in the example shown in FIG. 4, the output unit 43 displays a status display screen (machine state monitoring screen) together with the setting method selection section B1. The status display screen is a screen that displays the current status of the work machine 10 and the surroundings of the work machine 10.

[0049] (Manual setting of work information D) Manual setting of work information D (see step S10 in FIG. 3) is setting of work information D by manual operation of a worker. In manual setting of a workplace D, a work position W is manually set (set by manual operation of a worker). Manual setting of the work position W includes setting of the work position W by teaching and setting of the work position W other than by teaching.

[0050] Setting of the work position W by teaching is performed, for example, as follows. As shown in FIG. 6, the output unit 43 displays a screen for manually setting the work position W (manual setting screen). An operator gets on the work machine 10 shown in FIG. 5 and operates the work machine 10, or the operator remotely operates the work machine 10. For example, the operator operates the work machine 10 to place the specific part 15d of the attachment 15 at a position that is to be set as the work position W (see FIG. 6). The controller 50 then sets the work position W based on the position at which the specific part 15d is placed. In the example shown in FIG. 6, the output unit 43 displays a message to the operator that the specific part 15d should be placed at the position that is to be set as the work position W.

[0051] For example, the worker operates the work machine 10 shown in FIG. 5 to place the specific part 15d at a specific position (e.g., a position that will be a corner) of the range that is to be set as the work range Wa (e.g., the capture work position Wa1, the release work position Wa3). Then, the controller 50 sets the work range Wa based on the position where the specific part 15d is placed. The position where the specific part 15d is placed is calculated based on the attitude of the work machine 10 detected by the attitude sensor 20 (see FIG. 2). Specifically, in the example shown in FIG. 6, the worker places the specific part 15d at the positions (points A, B, C, and D) that are to be set as the corners of the work range Wa. In this state, the instruction position registration selection section B3 (registration button) is selected by the worker. As a result, the positions that will be the corners of the work range Wa are registered (set). Then, with the positions of the points (points A, B, C, and D) registered, the worker selects the work position registration selection section B5 (complete button). The controller 50 sets the working range Wa based on each of the registered points.

[0052] Also, for example, the worker operates the work machine 10 shown in Fig. 5 to move the specific part 15d along the path that is desired to be set as the target path Wp. Also, for example, the worker operates the work machine 10 to move the specific part 15d along the path that is desired to be set as the target trajectory at a speed that is desired to be set as the target trajectory. Then, the controller 50 sets the path (or trajectory) along which the specific part 15d has moved as the target path Wp (or target trajectory).

[0053] Setting of the work position W other than by teaching may be performed, for example, as follows. The work position W may be set by the worker operating the information processing device 40 (input unit 41) shown in FIG. 6. For example, the worker inputs coordinate values ​​(parameters) indicating the position he / she wants to set as the work position W through the input unit 41. The controller 50 may then set the work position W based on the input values. Also, for example, the worker indicates (for example, by using a mouse or tapping) through the input unit 41 a position on the screen of the output unit 43 that he / she wants to set as the work position W. The controller 50 may then set the work position W based on the indicated position.

[0054] (Preset settings for work information D) The preset setting of the work information D is the setting of the work information D by the controller 50 reading out the stored work information D (previously set work information D, preset work information D). The outline of the storage and reading process of the work information D by the controller 50 is as follows.

[0055] The controller 50 stores the set work information D in the memory unit 50b (storage step, see step S41 in FIG. 3). As shown in FIG. 7, the controller 50 displays the work information D stored in the memory unit 50b on the output unit 43 so as to be selectable by the input unit 41 (display selection step, see step S91 in FIG. 3). The controller 50 sets the work information D selected by the input unit 41 as the work information D to be used for work by the work machine 10 (application step, see step S92 in FIG. 3).

[0056] In this way, by the controller 50 reading the stored work information D, the work information D that was set once (in the past) can be used (reused) for the next work onwards. Therefore, the work information D that was set once can be used multiple times. This saves the worker the effort and time required to manually set the work information D. Therefore, the work can be started earlier by the saved time required to manually set the work information D. In addition, because the controller 50 reads the stored work information D, it is possible to eliminate changes in the work information D for each worker (such as variations in the work position W). Therefore, when work information D settings that provide good work efficiency are used for the work, the work efficiency of the work machine 10 can be ensured.

[0057] The details of the storage and reading process of the work information D by the controller 50 are as follows.

[0058] (Preset data storage) The controller 50 stores the work information D set in the manual setting (step S10 in FIG. 3, work information setting step) in the storage unit 50b (step S41 in FIG. 3, storage step). The work information D stored by the controller 50 (stored in the storage unit 50b) is also referred to as preset data.

[0059] As shown in Fig. 8, the preset data may include information on the type of work position W (work item in Fig. 8). The "type of work position W" includes, for example, a capture work position Wa1, a release work position Wa3, and a target path Wp, as shown in Fig. 5.

[0060] As shown in Fig. 8, the preset data may include information on the registration date. This registration date may be the date on which the preset data is registered (stored), or the date on which the work information D is set. The registration date information may include information on the year, the day, or the day of the week. The registration date information may include information on the time when the preset data is registered.

[0061] The preset data may include information on a name (preset name). The preset name may be set by inputting the input unit 41 (for example, arbitrarily by the worker). The preset name or the initial value of the preset name may be automatically set by the controller 50 based on the contents of the preset data (for example, the registration date, the model, the type of the work position W, etc.). The controller 50 may change the set preset name to the preset name set by the input unit 41.

[0062] The preset data may include information on the model of the work machine 10. This "information on the model of the work machine 10" is, for example, information on the model of the work machine 10 for which information on the work position W can be used. Specifically, "information on the model of the work machine 10" may include information on the size (e.g., tonnage) of the work machine 10, and may include information on the type (bucket, grapple, etc.) of the end attachment 15c (see FIG. 5). "Information on the model of the work machine 10" may include specification information of the work machine 10, may include the model name of the work machine 10, and may include information that identifies an individual work machine 10 (for other specific examples, see the explanation of work machine status conditions described later).

[0063] The preset data may include an information tag. The information tag may be used, for example, to classify the preset data or to search for the preset data. The number of information tags in one preset data may be one or more, and may be increased or decreased as desired by the worker (see "Add tag" in FIG. 8). Among the contents of the preset data described above, information other than the work position W (such as the model and the type of work position W) may be an information tag.

[0064] (Visual Information V) The preset data may include visual information V corresponding to the work information D. The visual information V makes it easy for the worker to select appropriate work information D. The visual information V prevents the worker from selecting (setting) incorrect work information D.

[0065] The visual information V may include an image (e.g., a point, a line, an area, etc.) indicative of the work location W. The visual information V may include an image of the work machine 10. The image of the work machine 10 may be a real-life image, a point cloud image, computer graphics (as well as other images). The image of the work machine 10 may be a two-dimensional image or a three-dimensional image (as well as other images).

[0066] The visual information V may include an image showing the surrounding information A. The surrounding information A is information about the surroundings of the work machine 10. The surrounding information A may include information about the topography A1 of the work site. The topography A1 may include, for example, a pile of dirt A1a, a slope of the ground (such as a slope), and unevenness of the ground. The visual information V (the surrounding information A) may include information about an object A5 (see FIG. 5) placed at the work site. The object A5 may be an obstacle. The object A5 may be a container (see FIG. 5) that contains the work object. This container may be the loading platform of a vehicle (e.g., a dump truck) that transports the work object. This container does not have to be a loading platform, and may be, for example, one placed on the ground, or one provided in a hole in the ground (such as a dirt pit A5a (see FIG. 10)).

[0067] The surrounding information A may include information detected by the imaging device 30 (see FIG. 2). For example, the surrounding information A may include an image of the work site detected by the imaging device 30. The visual information V may include an image of the work site detected by the imaging device 30, for example, when the work position W is set. The "image of the work site" may include an image captured by a camera (actual image), or may include an image showing point cloud information detected by LiDAR or the like (point cloud information image). The "image of the work site" may include an image (computer graphics) generated by the controller 50 based on information detected by the imaging device 30.

[0068] The visual information V (surrounding information A) may include information different from the information detected by the imaging device 30. For example, the visual information V may include an image of map information of the work site. The visual information V may include an image of a predetermined position in the work site, for example, an image indicating a no-entry area where the work machine 10 is prohibited from entering.

[0069] The visual information V may be an image in which the above-mentioned various information (images) are superimposed.

[0070] (Example of storing work information D) There are various settings possible for the timing at which the controller 50 stores (registers) the work information D. Specific examples of this timing are as follows.

[0071] For example, when work information D is manually set (newly set) (step S10 in FIG. 3), the controller 50 may store (register) this work information D (step S41 in FIG. 3). Specifically, for example, when work information D is newly set, the controller 50 causes the output unit 43 to display a screen (not shown) that allows the user to select via the input unit 41 whether or not to store this work information D. Then, when it is input (selected) via the input unit 41 to store this work information D, the controller 50 may store this work information D.

[0072] Also, for example, the controller 50 may be set to a mode for storing work information D. Specifically, for example, when the controller 50 is set to a mode for storing work information D, the controller 50 allows the worker to manually set (newly set) the work information D (step S10 in FIG. 3). At this time, the controller 50 may store the newly set work information D (step S41 in FIG. 3).

[0073] (Number of work information D to be stored) The controller 50 may store only one piece of work information D, or may store multiple pieces of work information D. The controller 50 may store multiple pieces of work information D with different types of work positions W (e.g., the capture work position Wa1 and the release work position Wa3 shown in FIG. 5). The controller 50 may store multiple pieces of work information D with different models for which the work information D is used. The controller 50 may store multiple pieces of work information D with different work sites for which the work information D is used. Storing various pieces of work information D makes it possible to use the stored work information D in various situations (work sites, models, work contents, etc.).

[0074] (Linking work information D) When storing a plurality of pieces of work information D, the controller 50 may link (associate, correspond) the plurality of pieces of work information D together (see steps S51 to S56 in FIG. 3). For example, the controller 50 may link pieces of work information D for different types of work together. Specifically, for example, the controller 50 may link a plurality of pieces of work information D having different types of work positions W (e.g., capture work position Wa1 (see FIG. 5), release work position Wa3 (see FIG. 5), etc.). Specifically, for example, the controller 50 may link two or more pieces of work information D among the work information D having the capture work position Wa1 (see FIG. 5), the work information D having the release work position Wa3 (see FIG. 5), and the work information D having the target path Wp (see FIG. 5).

[0075] The controller 50 may collectively process a plurality of linked pieces of work information D. For example, the controller 50 may be able to collectively select a plurality of linked pieces of work information D (see FIG. 7), collectively apply them to a work, or collectively manage them (described later).

[0076] The controller 50 may link a plurality of newly set (manually set) pieces of work information D together (see the case of YES in step S51 in FIG. 3). For example, the worker manually sets the work information D having the capture work position Wa1 (see FIG. 5) and the work information D having the release work position Wa3 (see FIG. 5) together (at substantially the same timing in a series of operations) (step S52 in FIG. 3). The controller 50 stores the plurality of work information D set together together. At this time, the controller 50 may link the plurality of work information D stored together (step S53 in FIG. 3). At this time, the controller 50 may display on the output unit 43 a screen (not shown) that allows the input unit 41 to select whether or not to link the plurality of pieces of work information D together. Then, the controller 50 may link the plurality of pieces of work information D together when the input unit 41 selects to link the plurality of newly set pieces of work information D together.

[0077] The controller 50 may link multiple existing (stored) pieces of work information D together (see the case of NO in step S51 of FIG. 3). For example, the controller 50 causes the output unit 43 to display a screen for linking multiple pieces of work information D together. Multiple pieces of work information D to be linked are selected by the input unit 41 (step S55 of FIG. 3). Then, the controller 50 links the multiple pieces of work information D together based on the input of the input unit 41 (step S56 of FIG. 3).

[0078] (Management of work information D) The controller 50 may be configured to be able to manage the stored work information D. The management of the work information D may include searching for the work information D, changing the work information D, or deleting the work information D (steps S61 and S62 in FIG. 3). For example, the controller 50 may cause the output unit 43 to display a screen for managing the stored work information D, as in the example shown in FIG. 8. The controller 50 then executes management of the work information D based on an input from the input unit 41 for managing the work information D. Note that the process of linking the above-mentioned multiple existing (stored) pieces of work information D together (step S56 in FIG. 3) may be included in the management of the work information D.

[0079] The controller 50 may be capable of managing each content of the preset data (such as name, model, and information tag). Specifically, the controller 50 may be capable of searching for preset data based on each content of the preset data (for example, by preset name, for example, by model). For example, as shown in FIG. 7, the controller 50 may display the preset data on the output unit 43 for each content of the preset data. Specifically, for example, when the input unit 41 selects to display the work information D having the capture work position Wa1 ("digging area" in FIG. 7), the controller 50 displays the preset data of the work information D having the capture work position Wa1 on the output unit 43. In this case, the controller 50 may not display the preset data other than the capture work position Wa1 on the output unit 43.

[0080] The controller 50 may be capable of managing each piece of work information D individually. The controller 50 may be capable of collectively managing a plurality of pieces of work information D linked to each other. The controller 50 may be capable of collectively managing a plurality of pieces of preset data for each content of the preset data (for example, for each piece of preset data having the capture work position Wa1). The controller 50 may be capable of collectively deleting all pieces of work information D stored in the memory unit 50b.

[0081] (Application of work information D to work) The controller 50 applies the stored work information D to the work of the work machine 10 (steps S91 and S92 in FIG. 3, application step). In detail, the controller 50 displays a screen (preset data selection screen) for selecting the work information D on the output unit 43 as shown in FIG. 7. The controller 50 displays the work information D stored in the storage unit 50b on the output unit 43 so as to be selectable by the input unit 41 (displays the work information selection unit B7). The work information selection unit B7 includes, for example, a list of selectable preset data. When only one piece of work information D is stored in the storage unit 50b, the controller 50 displays on the output unit 43 so as to be selectable by the input unit 41 the application of the stored one piece of work information D to the work. When multiple pieces of work information D are stored in the storage unit 50b, the controller 50 displays on the output unit 43 so as to be selectable by the input unit 41 one or more pieces of work information D to be applied to the work from the multiple pieces of work information D stored.

[0082] The controller 50 then applies the selected work information D to the work of the work machine 10 based on the input of the input unit 41. Specifically, for example, the work information selection unit B7 selects the work information D to be applied to the work, and the work information selection determination unit B9 is selected. For example, when the work machine 10 operates by automatic driving or machine control, information on the selected work information D is transmitted from the work information setting unit 51 to the operation command unit 53 (step S92 in FIG. 3). The operation command unit 53 then controls the work machine 10 based on the selected work information D. Also, for example, when machine guidance is performed, guidance for the worker is output based on the selected work position W.

[0083] (Effects of the first invention) 1 has the following effects. The work information setting system 1 includes an input unit 41 and an output unit 43. Information used for work information setting control is input to the input unit 41. The output unit 43 outputs information for the work information setting control.

[0084] [Configuration 1] The work information setting control (controller 50) sets the work information D shown in Fig. 8. The work information D includes position information (work position W) used when the work machine 10 performs work. The work information setting control stores the set work information D in the memory unit 50b (see Fig. 2). As shown in Fig. 7, the work information setting control displays the work information D stored in the memory unit 50b (see Fig. 2) on the output unit 43 so that it can be selected by the input unit 41. The work information setting control sets the work information D selected by the input unit 41 as the work information D to be used for work by the work machine 10.

[0085] The above [Configuration 1] provides the following effects. The task of an operator manually setting (manual setting) the position information (work position W) used when the work machine 10 performs work is a time-consuming and labor-intensive task. Therefore, the above [Configuration 1] makes it possible to apply (reuse) work information D that was previously set as work information D including the position information (work position W) used when the work machine 10 performs work. Therefore, it is possible to reduce the effort and time required to set the position information (work position W) used when the work machine 10 performs work.

[0086] (Effects of the second invention) [Configuration 2] The work information setting control stores a plurality of pieces of work information D in the storage unit 50b (see FIG. 2).

[0087] With the above [Configuration 2], the work information D used in the work of the work machine 10 can be changed depending on, for example, the work situation. For example, it is possible to have the worker select appropriate work information D from multiple pieces of work information D.

[0088] (Effects of the third invention) [Configuration 3] The work information setting control links multiple pieces of work information D, which are different types of work, with each other (see steps S51 to S56 in FIG. 3).

[0089] With the above [Configuration 3], the work information setting system 1 can collectively process (eg, search, manage, apply, etc.) multiple pieces of linked work information D that are different types of work.

[0090] (Effect of the fourth invention) [Configuration 4] The work information setting control causes the storage unit 50b (see FIG. 2) to store visual information V corresponding to the set work information D, and causes the output unit 43 to display the visual information V.

[0091] The above [Configuration 4] enables the output unit 43 to display visual information V corresponding to the stored work information D. For example, when an operator selects work information D to be used for work by the work machine 10, it is possible to allow the operator to select appropriate work information D.

[0092] (Effect of the eighth aspect of the invention) The effects of the work information setting program are as follows.

[0093] [Configuration 8] The work information setting program causes the controller 50 (computer) to execute a work information setting step, a storage step, a display selection step, and an application step. The work information setting step (see step S10 in FIG. 3) sets work information D. The work information D includes position information (work position W) used when the work machine 10 performs work. The storage step (see step S41 in FIG. 3) stores the work information D set in the work information setting step in the storage unit 50b (see FIG. 2). The display selection step (see step S91 in FIG. 3) displays the work information D stored in the storage step on the output unit 43 so that it can be selected by the input unit 41. The application step (see step S92 in FIG. 3) sets the work information D selected in the display selection step as the work information D to be used for work by the work machine 10.

[0094] With the above [Configuration 8], it is possible to apply (reuse) work information D that was previously set as work information D including position information (work position W) used in work by the work machine 10. Therefore, it is possible to reduce the effort and time required to set position information (work position W) used in work by the work machine 10.

[0095] (Effect of the ninth aspect of the invention) The effects of the work information setting method are as follows.

[0096] [Configuration 9] The work information setting method includes a work information setting step, a storage step, a display selection step, and an application step. The work information setting step (see step S10 in FIG. 3) sets work information D. The work information D includes position information (work position W) used when the work machine 10 performs work. The storage step (see step S41 in FIG. 3) stores the work information D set in the work information setting step in the storage unit 50b (see FIG. 2). The display selection step (see step S91 in FIG. 3) displays the work information D stored in the storage step on the output unit 43 so that it can be selected by the input unit 41. The application step (see step S92 in FIG. 3) sets the work information D selected in the display selection step as the work information D to be used for work by the work machine 10.

[0097] With the above [Configuration 9], it is possible to apply (reuse) work information D that was previously set as work information D including position information (work position W) used in work by the work machine 10. Therefore, it is possible to reduce the effort and time required to set position information (work position W) used in work by the work machine 10.

[0098] Second embodiment With reference to Figs. 9 and 10, the differences between the work information setting system 201 of the second embodiment and the first embodiment will be described. Note that, of the work information setting system 201 of the second embodiment, the explanation of the common points with the first embodiment will be omitted. The same applies to the explanation of the third embodiment described later. The differences are that, as shown in Fig. 9, the output unit 43 displays a status display screen different from the example shown in Fig. 4, and outputs guidance for moving the work machine 10 so that the work information D can be appropriately used.

[0099] Fig. 9 shows a status display screen displayed by the output unit 43. The status display screen is a screen (machine state monitoring screen) that displays the current work machine 10 (see also Fig. 4). The status display screen is also a screen that displays the current surrounding situation (surrounding information A) of the work machine 10. The status display screen includes, for example, a status display G1, an image GW that represents the work position W, a viewpoint change selection unit B11, and a display switch selection unit B12.

[0100] The status display G1 may include an image representing the current status of the work machine 10. The status of the work machine 10 displayed as the status display G1 may include the position of the work machine 10, may include the direction of the work machine 10, or may include the attitude of the work machine 10. The status of the work machine 10 displayed as the status display G1 may include the rotation angle of the upper rotating body 13 relative to the lower body 11, or may include the attitude of the attachment 15. The status display G1 may include an image representing the current status of the surrounding information A. The status display G1 may include an image representing the relative position of the work machine 10 and the surrounding information A. As with the specific example of the visual information V (see FIG. 8) described above, the status display G1 may include a real-life image, a point cloud image, computer graphics, a two-dimensional image, or a three-dimensional image (e.g., a three-dimensional point cloud image).

[0101] The image GW representing the working position W is an image that represents the position of the working position W. In the example shown in Fig. 9, the image GW representing the working position W is a frame that represents the working range Wa (specifically, the capturing working position Wa1).

[0102] The viewpoint change selection unit B11 is displayed so that the input unit 41 can select to change the viewpoint (hereinafter also simply referred to as "viewpoint") of an image (such as the situation display G1) output to the output unit 43. The viewpoint change selection unit B11 is, for example, a button (viewpoint change button) displayed on the output unit 43 (the same applies to the display switch selection unit B12). The situation display screen on which the viewpoint change selection unit B11 is displayed is also a viewpoint change screen. The viewpoint change selection unit B11 includes, for example, a viewpoint rotation unit B11a, a viewpoint movement unit B11b, a viewpoint zoom unit B11c, and a viewpoint reset unit B11d.

[0103] The viewpoint rotation section B11a is displayed so that rotation of the viewpoint can be selected by the input section 41. When the viewpoint rotation section B11a is selected (e.g., pressed), the viewpoint rotates up, down, left, and right. When the viewpoint rotation section B11a is selected, the inclination of the viewpoint may be changed.

[0104] The viewpoint movement section B11b is displayed so that moving the viewpoint can be selected by the input section 41. When the viewpoint movement section B11b is selected, the viewpoint moves up, down, left, and right without rotating.

[0105] The viewpoint zoom section B11c is displayed so that the input section 41 can be used to select whether to enlarge or reduce the situation display G1.

[0106] The viewpoint reset unit B11d is displayed so that the input unit 41 can select to return the viewpoint to a specific state. This "specific state" may be the initial state, or a viewpoint other than the initial state set as the specific state. When the viewpoint is in the specific state, the viewpoint reset unit B11d may be in an unselectable state (the viewpoint cannot be reset, negative). The image of the viewpoint reset unit B11d at this time may be an image with lower brightness (a grayed-out image) compared to the image when the viewpoint reset unit B11d is selectable (active). When the viewpoint is not in the "specific state" (when the viewpoint has been changed), the viewpoint reset unit B11d becomes selectable (the viewpoint can be reset).

[0107] The display switching selection section B12 is displayed so that the switching of the contents displayed on the output section 43 can be selected by the input section 41. When the display switching selection section B12 is selected, the contents displayed as the status display G1 may be switched. When the display switching selection section B12 is selected, the image GW representing the work position W may be switched. For example, in the example shown in FIG. 9, when the display switching selection section B12 (frame display switching section) is selected, the presence or absence of display of the frame representing the capturing work position Wa1 is switched. Note that the display switching selection section B12 for switching a display (image) different from the status display G1 and the image GW representing the work position W may be displayed.

[0108] (Display when the selection is selected) When a selection section such as the viewpoint change selection section B11 and the display switching selection section B12 is selected by the input section 41, the output section 43 performs a display indicating that the selection section has been selected (for example, a display indicating that a button has been pressed). When the viewpoint change selection section B11 is selected, the output section 43 may change the display of the viewpoint change selection section B11 or may change the display around the viewpoint change selection section B11 (similarly for other selection sections such as the display switching selection section B12). Changing the display may include changing the color, and more specifically, may include changing one or more of the hue, density (transparency), brightness, and saturation. Changing the display may include changing the shape, and may include changing the pattern. Specifically, in the example shown in FIG. 9, when the viewpoint zoom section B11c is selected (for example, when it is pressed), the output section 43 may perform a display in which the color of the selected viewpoint zoom section B11c is darkened and a haze is cast around the selected viewpoint zoom section B11c.

[0109] (guidance) The controller 50 causes the output unit 43 to output guidance for moving (aligning) the work machine 10 to the target position T.

[0110] The reason this guidance is provided is as follows. There are cases where the work information D is used when the work machine 10 is positioned at a specific position (target position T, described later). The work information D cannot necessarily be used wherever the work machine 10 is positioned. Therefore, when work is performed using the work information D, if the work machine 10 is not positioned at the specific position (target position T), it is necessary to move the work machine 10 to this specific position. Here, if a marker is placed at this specific position, the work of setting and removing the marker is time-consuming. It is also assumed that there are work sites where it is not possible to set up a marker.

[0111] Therefore, the controller 50 causes the output unit 43 to output guidance for moving (aligning) the work machine 10 to the target position T. Specifically, as shown in Fig. 10, the controller 50 causes the output unit 43 to output guidance so that the alignment target part U is aligned with the target position T. Details of the guidance are as follows.

[0112] The target position T is a position where the work machine 10 should be positioned when the work information D (e.g., work position W) is used. The target position T is a position where the work information D (e.g., work position W) becomes available. The "position" of the target position T includes a direction. For example, the target position T may include the position where the work machine 10 was positioned when the work information D was manually set (the position when the work information D was set), or may include a position in the vicinity thereof. The target position T does not have to be the position when the work information D was set, and may be a position where the conditions for using the work information D are satisfied.

[0113] The work information D corresponding to the target position T may be the preset data described above. In particular, the work information D corresponding to the target position T may be work information D that is stored in the memory unit 50b and is selectably output by the input unit 41 (see FIG. 7). The work information D corresponding to the target position T does not have to be preset data. For example, the work information D corresponding to the target position T may be work information D that is manually set (see FIG. 6) and is used as is for the work of the work machine 10.

[0114] The alignment target part U is a part that is to be aligned to the target position T. The alignment target part U may be the entire work machine 10. The alignment target part U may be a part of the work machine 10. The alignment target part U may be the entire or a part of the lower body 11, the entire or a part of the upper rotating body 13, or the entire or a part of the attachment 15. The alignment target part U may be the rotation center 13b.

[0115] The alignment target part U may be a position outside the work machine 10 based on the work machine 10 (e.g., expressed in machine coordinates). For example, the alignment target part U may be a work position W (e.g., work range Wa) set outside the upper rotating body 13 (e.g., in front of the upper rotating body 13) based on the upper rotating body 13. In the example shown in FIG. 10, the alignment target part U is a capture work position Wa1 set at a position in front of the upper rotating body 13. As a result of the alignment target part U outside the work machine 10 based on the work machine 10 being aligned with the target position T of the alignment target part U, the work machine 10 is positioned at a position where the work machine 10 should be positioned when the work information D is used (the target position T of the work machine 10). Therefore, moving the alignment target part U outside the work machine 10 based on the work machine 10 to the target position T is included in "moving (aligning) the work machine 10 to the target position T". Further specific examples of alignment will be described later.

[0116] (Shape of target position T) The shape of the target position T varies depending on the type of the part to be aligned U. The shape of the target position T may be a point, a line, or a range (e.g., a frame). For example, when the part to be aligned U is the center of rotation 13b, the target position T viewed from above is a point (or an approximate point). When the part to be aligned U is the end (edge ​​portion) in the width direction of the lower body 11, the target position T is a line. When the part to be aligned U is the center line of each part of the work machine 10 viewed from above (e.g., the center line of the attachment 15, etc.), the target position T viewed from above is a line. When the part to be aligned U is the working range Wa based on the upper rotating body 13, the target position T is a range (e.g., a frame).

[0117] (Whether or not the target position T is set in the controller 50) The target position T may be a position that is not set in the controller 50 (see [Guidance Example B1] below). Specifically, the worker may check the output of the output unit 43 (e.g., the status display G1, etc.) and determine where the target position T is (details will be described later).

[0118] The target position T may be position information set in the controller 50. For example, the target position T may be position information set in advance (before guidance) in the controller 50 (see [Guidance example B2] below). The target position T may be position information set in advance and linked to the work position W. The work position W may be linked to the target position T at which the work position W becomes available. The target position T may be position information set in advance and not linked to the work position W. For example, the target position T may be position information automatically set by the controller 50 based on the surrounding information A (see [Guidance example B3] below).

[0119] (Details of the guidance) As described above, the controller 50 causes the output unit 43 to output guidance for moving (aligning) the work machine 10 to the target position T. The guidance output by the output unit 43 may include audio guidance or displayed guidance.

[0120] [Guidance Example A] The output unit 43 may output, as guidance, a direction in which to move the work machine 10 in order to place the work machine 10 at the target position T. For example, the output unit 43 may output the traveling direction of the lower body 11, may output the rotating direction of the upper rotating body 13, or may output the direction in which the attitude of the attachment 15 should be changed (for example, to raise or lower the boom 15a (see FIG. 9)).

[0121] [Guidance Example B] The output unit 43 may display the target position T as guidance.

[0122] [Guidance Example B1] When the target position T is a position that is not set in the controller 50, the output unit 43 may display the target position T so that the worker can determine where the target position T is. Specifically, for example, the output unit 43 may output a situation display G1 including the position that is to become the target position T. Note that further specific examples of this [Guidance Example B1] will be described later.

[0123] [Guidance Example B2] When the target position T is position information preset in the controller 50, the output unit 43 may display this preset target position T.

[0124] [Guidance example B3] When the target position T is position information automatically set by the controller 50 based on the surrounding information A, the output unit 43 may display the target position T automatically set by the controller 50. A specific example of this case is as follows. The imaging device 30 (see FIG. 1) detects the surrounding information A including a sand pit A5a, for example, as shown in FIG. 9. The controller 50 estimates (automatically recognizes) that the sand pit A5a is the target position T when the work range Wa is used. Then, the controller 50 causes the output unit 43 to display this target position T.

[0125] (Movement of the work machine 10) The work machine 10 (more specifically, the part to be aligned U) is moved towards the target position T in accordance with the guidance. At this time, the work machine 10 may be moved by manual operation by an operator. The work machine 10 may also be moved by automatic control (automatic or semi-automatic operation). In this case, the operator issues a command (operation) to move the work machine 10, and the work machine 10 may move by automatic control in response to this command. As a result of the part to be aligned U being positioned at the target position T, the work machine 10 is positioned at the position where it should be positioned when using the work information D (the target position T of the work machine 10).

[0126] (Output reached) The controller 50 may cause the output unit 43 to "output arrival" when the alignment target part U shown in Fig. 10 reaches the target position T. This arrival output is an output that notifies the worker that the alignment target part U has reached the target position T. The arrival output is an output that notifies the worker that the information of the work information D (e.g., the work position W) has become available for use in the work of the work machine 10. The arrival output may include an audio notification or a visual notification.

[0127] (Further concrete examples of guidance) A further specific example of the above-mentioned [Guidance Example B1] will be described. In this example, the output unit 43 outputs a situation display G1 as guidance. In the example shown in FIG. 10 (similar to FIG. 9), the output unit 43 outputs a situation display G1 including, for example, an image of the earth pit A5a captured by the imaging device 30 (see FIG. 1). The worker determines that the position of the earth pit A5a is the target position T by checking the situation display G1. In this example, the alignment target U is a position outside the work machine 10 based on the work machine 10. Specifically, the alignment target U is the work range Wa, and is a frame indicating the capture work position Wa1. The worker moves the work machine 10 so as to align the frame of the capture work position Wa1 (alignment target U) with the position determined to be the target position T (the position of the earth pit A5a in this example). At this time, the frame indicating the capture work position Wa1 is set based on the upper revolving body 13, so it moves following the upper revolving body 13. The work machine 10 is moved so that the frame (alignment target part U) indicating the capture work position Wa1 is aligned with the target position T (specifically, the position of the earth pit A5a). As a result of the alignment target part U being positioned at the target position T, the work machine 10 is positioned at the position where it should be positioned when the work information D is used (the target position T of the work machine 10).

[0128] Note that this specific example of guidance is merely one example. Guidance may be provided to align a part or the whole of the work machine 10 (an example of the alignment target part U) with the target position T. Guidance may be provided to align a part or the whole of the work machine 10 (an example of the alignment target part U) with the target direction (an example of the target position T). Specifically, guidance may be provided to align a part or the whole of the lower body 11 (an example of the alignment target part U) with the target position T of the lower body 11. Guidance may be provided to align a part or the whole of the upper rotating body 13 (an example of the alignment target part U) with the target position T of the upper rotating body 13. Guidance may be provided to align the rotation center 13b (an example of the alignment target part U) with the target position T of the rotation center 13b. Guidance may be provided to align the rotation angle of the upper rotating body 13 (an example of the alignment target part U) with respect to the lower body 11 with the target angle (an example of the target position T). Guidance may be provided to align the attachment 15 (an example of a positioning target portion U) with a target posture (an example of a target position T).

[0129] (When the imaging device 30 is mounted on the upper rotating body 13) Here, a case will be described in which the imaging device 30 (see FIG. 1) is mounted on the upper rotating body 13, and the target position T is determined from the surrounding information A detected by the imaging device 30 (automatically determined by the controller 50 or by the operator). In this case, it is preferable to rotate the upper rotating body 13 before moving the alignment target part U toward the target position T so that the imaging device 30 can capture an image of the target position T. In this case, even if the imaging device 30 is not installed outside the work machine 10, the imaging device 30 can capture an image of the target position T and the target position T can be determined.

[0130] (When the orientation of the upper rotating body 13 during work is fixed) There are cases where the rotation angle (angle range or one angle) of the upper rotating body 13 with respect to the lower body 11 is determined when the work information D is used for the work of the work machine 10. In this case, it is preferable to match the rotation angle when the work information D is used before the alignment target part U is moved toward the target position T. In the example shown in FIG. 10, before the alignment target part U is moved toward the target position T, the rotation angle is set so that the front-to-rear direction of the upper rotating body 13 and the front-to-rear direction of the lower body 11 are perpendicular (90 degrees). In this case, when the alignment target part U is moved toward the target position T, only the lower body 11 needs to be moved, and there is no need to move the upper rotating body 13.

[0131] (Effect of the fifth aspect of the invention) The effects of the work information setting system 201 shown in FIG. 10 are as follows.

[0132] [Configuration 5] The work information setting control (controller 50) causes the output unit 43 to output guidance for moving the work machine 10 to the target position T, which is the position where the work machine 10 should be positioned when the work information D is used.

[0133] The above [Configuration 5] provides the following effect. If the position (target position T) where the work machine 10 is to be placed when the work information D is used has been determined, it is necessary to move the work machine 10 to this position (target position T). Therefore, in the above [Configuration 5], the output unit 43 outputs guidance for moving the work machine 10 to the target position T. Therefore, the work machine 10 can be easily moved to the target position T.

[0134] Third embodiment 11 to 14, the differences between the work information setting system 301 of the third embodiment and the first embodiment will be described. The differences are that, as shown in Fig. 12, the work information D includes a restricted area R, and the controller 50 restricts the position where the work machine 10 works based on the restricted area R.

[0135] (Restriction based on restricted area R) The controller 50 restricts the position where the work machine 10 works, based on the restricted area R. For example, the controller 50 may impose the restriction when the restricted portion 10r of the work machine 10 approaches the restricted area R to within a predetermined distance, or may impose the restriction when it enters the restricted area R. In the example shown in Fig. 12, the controller 50 imposes the restriction when the restricted portion 10r approaches (for example, touches) the face of the approximately rectangular parallelepiped restricted area R to within a predetermined distance. Specific examples of restrictions will be described later.

[0136] The restricted portion 10r may be the entirety or a part of the work machine 10. For example, the restricted portion 10r may be the entirety of the attachment 15, or a part of the attachment 15 (for example, only the tip attachment 15c, only the boom 15a, etc.). The restricted portion 10r may differ depending on the position of the restricted area R, etc. For example, the restricted portion 10r of the restricted area upper surface Ra described later may be the entirety of the attachment 15, and the restricted portion 10r of the near obstacle area RA5b described later may be only the boom 15a.

[0137] The restriction based on this restricted area R may include a restriction on the operation of the work machine 10, or may include a warning. The restriction on the operation of the work machine 10 may be a restriction on the operation of only the restricted portion 10r, may be a restriction on the operation including portions other than the restricted portion 10r, or may be a restriction on the operation of the entire work machine 10. The restriction on the operation of the work machine 10 may be a restriction on the operating speed, or may be a stop of operation. When a warning is issued as a restriction based on the restricted area R, the controller 50 causes the output unit 43 to output a warning. This warning is, for example, a warning in the form of sound, light, vibration, or a combination of these. The controller 50 may issue both a restriction on the operation of the work machine 10 and a warning, or may issue only one of them.

[0138] The restricted area R is an area for restricting the position where the work machine 10 works. The restricted area R is an example of work information D. The restricted area R may be set in various positions, directions, and shapes.

[0139] In the example shown in FIG. 12, the restricted area R is a substantially rectangular parallelepiped, and has a restricted area upper surface Ra, a restricted area lower surface Rb, a restricted area rear surface Rc, a restricted area front surface Rd, a restricted area left side surface Re, a restricted area right side surface Rf, and a near obstacle area RA5b. The restricted area upper surface Ra is a surface that limits the height of the work, and is set, for example, at a height near the ceiling. The restricted area lower surface Rb is a surface that limits the depth of the work. The restricted area rear surface Rc is a surface that limits the work on the rear side as viewed from the upper rotating body 13. The restricted area rear surface Rc is set, for example, at a position near a wall (similarly to the restricted area left side surface Re and the restricted area right side surface Rf). The restricted area front surface Rd is a surface that limits the work on the near side as viewed from the upper rotating body 13 (the upper rotating body 13 when facing a specific direction). For example, the restricted area front surface Rd is set at a position near the near obstacle A5b. The restricted area left side Re is a surface that limits work on the left side as viewed from the upper rotating body 13. The restricted area right side Rf is a surface that limits work on the right side as viewed from the upper rotating body 13.

[0140] The near obstacle area RA5b is an area including the near obstacle A5b, and is an area for suppressing the restricted portion 10r from contacting the near obstacle A5b. The near obstacle A5b is an example of the object A5, such as a wall. For example, it is assumed that the machine body 10a is brought close to the near obstacle A5b, and the attachment 15 works on the rear side of the near obstacle A5b. With this arrangement of the work machine 10, the boom 15a may interfere with the near obstacle A5b. Therefore, the near obstacle area RA5b is set as the restricted area R, and the boom 15a is set as the restricted portion 10r. Therefore, the boom 15a is restricted from entering the near obstacle area RA5b, and interference with the near obstacle A5b is suppressed. Note that when the near obstacle area RA5b is set as the restricted area R, a portion of the work machine 10 other than the boom 15a may be set as the restricted portion 10r.

[0141] (Setting the restricted area R) The restricted area R used for work by the work machine 10 can be set by various methods. Setting of the restricted area R will be described with reference to the flowchart shown in Fig. 14. Each step of this flowchart will be described below with reference to Fig. 14.

[0142] The method of setting the restricted area R used in the work of the work machine 10 shown in Fig. 12 may be a preset setting (see step S321y) or a new setting (see step S321n). As shown in Fig. 11, the output unit 43 may display a restricted area preset setting selection screen that allows the operator to select whether to set the restricted area R by the preset setting or to newly set it (see step S321).

[0143] (Preset setting for restricted area R) The restricted area R used for work by the work machine 10 shown in Fig. 12 may be preset (read) (step S321y). In particular, the restricted area R used for work may be set by the controller 50 reading the restricted area R (an example of preset data) stored in the memory unit 50b. Here, the work position W and the restricted area R may be linked (the details of the linking will be described later). In this case, when the work position W used for work is set (as a set with the work position W), the controller 50 may set the restricted area R used for work by reading the restricted area R linked to this work position W (the details will be described later).

[0144] (New setting of restricted area R) The restricted area R used for work by the work machine 10 may be newly set (for example, manually set) (step S321n).

[0145] The restricted area R may be automatically set in the controller 50. For example, the restricted area R may be automatically set in the controller 50 based on the surrounding information A (see FIG. 9). Specifically, the restricted area R may be automatically set in the controller 50 based on the positions of obstacles (ceilings, walls, etc.) included in the surrounding information A.

[0146] (Manual setting of restricted area R) The restricted area R may be newly set by an operator through input (manual setting) to the input unit 41. At this time, the output unit 43 may display a restricted area setting screen (screen shown in FIG. 12) which is a screen for manually setting the restricted area R.

[0147] The restricted area setting screen includes an image of the restricted area R. The restricted area setting screen may include an image of the work machine 10, or may include an image of a work position W (capturing work position Wa1 in FIG. 12) linked to the restricted area R (the details of the linking will be described later). The restricted area setting screen may include a parameter display section G3, a registration selection section B13a, or an input completion selection section B13b. The parameter display section G3 displays each parameter (such as a numerical value) of the restricted area R. The registration selection section B13a is displayed so that the input section 41 can select to register the parameters of the restricted area R. The registration selection section B13a is, for example, a button (registration button) displayed on the output section 43 (the same applies to the input completion selection section B13b). In the example shown in FIG. 12, the position of the near obstacle area RA5b in the forward / backward direction X (see FIG. 1) and the position (height) in the up / down direction Z (see FIG. 1) are input, and the input value is selected when it is registered. The input completion selection section B13b (input completion button) is displayed by the input section 41 so that the completion of the input of the parameters of the restricted area R by manual setting can be selected. The input completion selection section B13b may be unselectable until a condition for completing the input is satisfied (for example, until a value that needs to be input is input). The image of the input completion selection section B13b at this time may be an image with lower brightness (a grayed-out image) compared to the image when the input completion selection section B13b is selectable.

[0148] (How to enter manual settings, etc.) The parameters of the restricted area R may be inputted as numerical values ​​or may be set by teaching.

[0149] Numerical values ​​may be input, for example, as follows. For example, height, distance, etc. based on a work position W linked to the restricted area R may be input as a parameter of the restricted area R (the details of the linking will be described later). In the restricted area setting screen shown in FIG. 12, a height based on a capture work position Wa1 is input as a parameter of the restricted area R. Also, for example, height, distance, etc. based on a part of the work machine 10 (for example, the lower body 11, the upper rotating body 13, etc.) may be input as a numerical value as a parameter of the restricted area R. Also, for example, coordinate values ​​(absolute coordinates) based on the work site may be input as a parameter of the restricted area R.

[0150] A specific example of setting the restricted area R by teaching is the same as the setting of the work position W by teaching described above. For example, the worker operates the work machine 10 to align (place) a certain part of the attachment 15 at a position that is to be set as a parameter of the restricted area R. This "certain part" may be the specific part 15d (see FIG. 1), the tip of the tip attachment 15c, or the restricted part 10r that is restricted by the restricted area R for which parameters are to be set. The controller 50 then sets (stores) the position at which this "certain part" is placed as a parameter of the restricted area R. Specifically, for example, the worker may align the tip of the tip attachment 15c with a height that is to be set as the height of the restricted area R, and the height of this tip may be set (stored) as a parameter of the height of the restricted area R. Also, for example, the operator may adjust the height of the boom 15a to a height that he or she wishes to set as the height of the nearby obstacle area RA5b, and set (store) this height of the boom 15a as the height of the nearby obstacle area RA5b.

[0151] The parameters of the restricted region R that are manually set may or may not be set to initial values.

[0152] A specific example of the process of the controller 50 when an initial value is set for the parameter of the restricted area R is as follows. The parameter of the restricted area R (for example, the height of the upper surface Ra of the restricted area) is input by numerical input or teaching, and is changed from the initial value. At this time, the controller 50 determines the changed parameter as the parameter of the restricted area R (in this example, the height of the upper surface Ra of the restricted area) (parameter change function).

[0153] A specific example of the process of the controller 50 when no initial value is set for the parameter of the restricted area R is as follows. A parameter for which no initial value is set (for example, the height of the nearby obstacle area RA5b) is input (registered) by numerical input or teaching. In this case, the controller 50 determines the input parameter as the parameter of the restricted area R (in this example, the height of the nearby obstacle area RA5b). When a parameter for which no initial value is set (for example, the height of the nearby obstacle area RA5b) is not input, there is no need to restrict the parameter of the restricted area R (in this example, the height of the nearby obstacle area RA5b).

[0154] (Check the set restricted area R) 13, the output unit 43 may display a restriction area confirmation screen (step S323) that allows the operator to confirm the set restriction area R. The output unit 43 may display a preset restriction area R, or may display a manually set restriction area R.

[0155] The restricted area confirmation screen includes at least an image representing the set restricted area R. The restricted area confirmation screen may include an image in which the work machine 10 and the restricted area R are superimposed. The restricted area confirmation screen may include an image in which the surrounding information A and the restricted area R are superimposed. The restricted area confirmation screen may include an image in which the status display G1 and the restricted area R are superimposed. The restricted area confirmation screen may include an image in which the work position W (captured work position Wa1 in FIG. 13) and the restricted area R are superimposed. The restricted area confirmation screen may include a correction selection section B15a, a cancel selection section B15b, a viewpoint change switching section B15c, and a setting completion selection section B15d.

[0156] The correction selection section B15a is displayed so that the input section 41 can select to correct the restricted area R (see the case of NO in step S325). When the correction selection section B15a is selected, the controller 50 displays, for example, a restricted area setting screen (see FIG. 12) on the output section 43, and allows the operator to correct the restricted area R. The correction selection section B15a is a button (correction button) or the like displayed on the output section 43 (similar to the cancel selection section B15b, viewpoint change switching section B15c, and setting completion selection section B15d). The cancel selection section B15b is displayed so that the input section 41 can select to cancel the setting of the restricted area R. When the cancel selection section B15b is selected, for example, the state returns to one in which the restricted area R is not set. The viewpoint change switching section B15c is displayed so that the input section 41 can select to switch to a state in which the viewpoint of the display of the restricted area R or the like can be changed. When the viewpoint change switching section B15c is selected, the output section 43 displays the viewpoint change selection section B11 (see FIG. 9). The setting completion selection section B15d is displayed so that completion of setting of the restricted area R can be selected by the input section 41. When the setting completion selection section B15d is selected, the set restricted area R is confirmed (see the case of YES in step S325). For example, the confirmed restricted area R is used for work by the work machine 10.

[0157] (Linking restricted area R and work position W) The controller 50 associates the restricted area R shown in Fig. 12 with the work position W. Note that this restricted area R is not included in the work position W (the same applies below). The controller 50 can process (e.g., search, manage, apply, etc.) the associated restricted area R and work position W collectively.

[0158] The restricted area R may be set based on a work position W linked to the restricted area R. The coordinates of the restricted area R and the work position W may be the same. For example, both the work position W and the restricted area R may be expressed in coordinates based on the work machine 10 (machine coordinates). Both the work position W and the restricted area R may be expressed in coordinates based on the work site (absolute coordinates).

[0159] In the example shown in FIG. 12, the restricted area R is set based on the working range Wa (specifically, the capturing work position Wa1). For example, the height (including depth) of the restricted area R (position in the vertical direction Z (see FIG. 1)) may be expressed as a height from the capturing work position Wa1. Specifically, for example, the heights of the restricted area upper surface Ra, the restricted area lower surface Rb, the restricted area left side surface Re, and the restricted area right side surface Rf may be expressed as a height from the capturing work position Wa1. Also, for example, the position of the restricted area R in the left-right direction (left-right direction as seen from the upper rotating body 13) may be expressed as a position in the left-right direction based on the capturing work position Wa1. Specifically, for example, the position of the restricted area left side surface Re in the left-right direction may be expressed as a distance from the left end of the capturing work position Wa1. The position of the restricted area R in the front-rear direction X (see FIG. 1) may be expressed as a position in the front-rear direction X based on the capturing work position Wa1.

[0160] In addition, when the restricted area R and the work position W are linked, the position of a part or the entire restricted area R does not have to be set based on the work position W (the information may simply be linked). In addition, when a certain part of the restricted area R is linked to the work position W, another part of the restricted area R (a part different from the above-mentioned "certain part") does not have to be linked to the work position W. Specifically, for example, when the restricted area top surface Ra is linked to the work position W and set based on the work position W, the near obstacle area RA5b does not have to be linked to the work position W, and does not have to be set based on the work position W.

[0161] The work position W linked to the restricted area R may be preset data. In particular, the work position W linked to the restricted area R may be work information D stored in the memory unit 50b and output selectably by the input unit 41. The work position W linked to the restricted area R does not have to be preset data. For example, the work position W linked to the restricted area R may be a work position W that is manually set and is used as is for work by the work machine 10.

[0162] (Specific example of the relationship between the restricted area R and the work position W) [Example A of Relationship] The restricted area R may be set (preset or newly set) regardless of the setting of the work position W. When the work position W and the restricted area R are set separately, the restricted area R and the work position W may be linked to each other.

[0163] [Relationship Example B] When the work position W is set (together with the work position W), the restriction area R may be set (preset or newly set).

[0164] [Relationship Example B1] When the work position W is preset, the restricted area R may be set. [Relationship Example B1-1] When the work position W is preset, the restricted area R associated with this work position W may be read (preset). In the restricted area preset setting selection screen shown in FIG. 11, the words "Read the setting associated with the preset?" and "New setting?" are displayed. In this example, when the work position W is read (preset), it is displayed so that it is selectable whether to read the restricted area R associated with this work position W or to newly set the restricted area R. [Relationship Example B1-2] Note that when the work position W shown in FIG. 12 is preset, the restricted area R that is not associated with this work position W but is stored in the storage unit 50b may be read (preset).

[0165] [Relationship Example B2] The restricted area R may be set when the work position W is manually set. [Relationship Example B2-1] The restricted area R may be read (preset) when the work position W is manually set. At this time, the manually set work position W and the read restricted area R may be linked. [Relationship Example B2-2] The restricted area R may be newly set when the work position W is manually set. At this time, the manually set work position W and the newly set restricted area R may be linked.

[0166] (Effect of the sixth aspect of the invention) The effects of the work information setting system 301 shown in FIG. 12 are as follows.

[0167] [Configuration 6] The work information D includes a restricted area R, which is an area for restricting the position where the work machine 10 works, and information on a work position W used when the work machine 10 works. The work information setting control (controller 50) links the restricted area R with the information on the work position W.

[0168] By the above [Configuration 6], the work information setting system 301 can collectively process the work position W and the restricted area R that are linked to each other. For example, the position of the restricted area R can be processed (e.g., set, stored, etc.) based on the coordinates of the work position W.

[0169] (Fourth embodiment) A work information setting system 401 according to the fourth embodiment will be described with reference to Figs. 15 to 17, focusing on differences from the first embodiment.

[0170] The outline of the processing of the controller 50 is as follows. As described above, there are cases where preset setting of the work information D (see FIG. 8) is performed (step S92 in FIG. 3). In detail, there are cases where the controller 50 reads the stored work information D (preset work information D) and sets (applies) the work information D to the work of the work machine 10.

[0171] In the work information setting system 401, the controller 50 performs processing to determine whether or not the work information D can be set. Specifically, the controller 50 changes whether or not the work information D can be set as the work information D to be used in the work of the work machine 10 according to the work information setting availability condition (see FIG. 17). In detail, the controller 50 sets the work information setting availability condition (simply described as "condition" in FIG. 17) for each work information D (step S481 in FIG. 17). The controller 50 acquires the "current situation" which is the situation at the time of selecting the work information D (step S482 in FIG. 17). The controller 50 determines whether or not the current situation satisfies the work information setting availability condition for each work information D (step S485 in FIG. 17). The controller 50 allows the work information D whose current situation satisfies the work information setting availability condition to be set as the work information D to be used in the work of the work machine 10 (step S485y in FIG. 17). The controller 50 determines that work information D whose current situation does not satisfy the work information settable condition cannot be set as work information D to be used for work by the work machine 10 (step S485n in FIG. 17).

[0172] In this work information setting system 401, if the work information setting availability condition of certain work information D is not satisfied in the current situation, this work information D (e.g., erroneous work information D) is not set as the work information D to be used for work of the work machine 10. Therefore, the work of the work machine 10 is not performed based on the work information D that does not satisfy the work information setting availability condition (e.g., erroneous work information D that is not suitable for the current situation). As a result, the problem of the work of the work machine 10 not being performed appropriately can be suppressed. Below, the processing of whether or not to set the work information D by the controller 50 will be described mainly with reference to the flowchart of FIG. 17. Below, each step of this flowchart will be described with reference to FIG. 17. As described above, the work machine 10 and its components will be described with reference to FIG. 1, and the controller 50 and its components will be described with reference to FIG. 2.

[0173] (Setting of work information setting availability conditions (step S481)) The controller 50 sets the work information setting availability condition (step S481 in FIG. 17). The work information setting availability condition is a condition that needs to be satisfied when applying the work information D to the work of the work machine 10. The work information setting availability condition is set for each piece of work information D. When multiple pieces of work information D are set (stored), the work information setting availability condition is set for each piece of work information D (individually). When only one piece of work information D is set (stored), the work information setting availability condition is set for this one piece of work information D. The case where the work information setting availability condition is set for only one piece of work information D is also included in the above-mentioned "set for each piece of work information D". Note that the work information setting availability condition may be included in the work information D (or may be part of the information constituting the work information D). The work information setting availability condition does not need to be included in the work information D, and may be, for example, information linked to the work information D.

[0174] The work information setting conditions include conditions for one or both of the work machine status conditions and the surrounding status conditions. The work information setting conditions may also include other conditions (conditions different from the work machine status conditions and different from the surrounding status conditions).

[0175] The work machine status condition is a condition for whether or not work information can be set that relates to the status of the work machine 10 (also referred to as the "work machine status"). Here, for example, if work information D that is suitable for a work machine 10 of a certain model and with certain attachment 15 specifications is applied to work on the work machine 10 that is not suitable for this work information D, a problem may arise in which the work on the work machine 10 is not performed appropriately. Therefore, it is preferable to set a condition for the status of the work machine 10 (work machine status condition) as a condition for whether or not work information can be set.

[0176] The contents (items) of the work machine status condition can be set in various ways. The work machine status condition may be all or part of the information of the work machine 10 stored as the above-mentioned preset data (step S41 in FIG. 3, see FIG. 8). The work machine status condition may be the above-mentioned "information on the model of the work machine 10" (see FIG. 8). The work machine status condition may be, for example, the above-mentioned "information tag" (see FIG. 8) relating to the status of the work machine 10. Note that the work machine status condition may be set separately from the information in the preset data. Also, the specific examples of the work machine status condition below may be specific examples of the information in the preset data.

[0177] Specific examples of the contents (items) of the work machine status condition are as follows: The work machine status condition may include a condition on the size of the work machine 10. For example, the work machine status condition may include a condition on the size (class) of the work machine 10 according to the tonnage of the work machine 10 (e.g., "13t", "35t", "50t", etc.). The work machine status condition may include a condition on the type (specification) of the attachment 15. The condition on the type of the attachment 15 may include a condition on the type of each of the boom 15a and the arm 15b (e.g., standard, short, long, etc.) (see FIG. 15). The condition on the type of the attachment 15 may include a condition on the type of the tip attachment 15c (e.g., bucket, breaker, nibbler, grapple, etc.). The work machine status condition may include a condition on the type of the cab 13a (standard, elevator specification, etc.). The work machine status conditions may include conditions for the type of work that the work machine 10 can perform (or performs) (e.g., earth excavation, earth loading, chipping, leveling, slope formation, etc.). The work machine status conditions may include conditions for the specifications of the work machine 10. The work machine status conditions may include the model of the work machine 10 (e.g., "Type 7 machine", "Type 5 machine", etc.). The work machine status conditions may include a condition for the model name of the work machine 10 (e.g., registered machine name (see FIG. 15)), or may include a condition for an individual work machine 10. The work machine status conditions may include conditions for other features of the work machine 10 (e.g., specification features) that may affect the work (automatic driving, etc.) of the work machine 10 using the work information D.

[0178] The work machine status condition may be set by various methods. The work machine status condition may be set at various timings. The work machine status condition may be set before, simultaneously with, or after the setting of the work information D (step S10 in FIG. 3). A specific example of a case in which the work machine status condition is set before the setting of the work information D is as follows. Here, as described above, manual setting of the work information D includes setting of the work information D (more specifically, the work position W (see FIG. 5)) by teaching, and setting of the work information D other than by teaching (for example, in the information processing device 40 (see FIG. 15)). In this case, for example, the work machine status condition may be set when the information processing device 40 (see FIG. 15) and the work machine 10 used for teaching are connected (when communication starts, when heavy equipment information is registered), prior to the setting of the work information D by teaching (step S10 in FIG. 3).

[0179] The work machine status condition may be set by manual operation by the worker, or may be automatically set by the controller 50. Specific examples of when the work machine status condition is set by manual operation by the worker are as follows. The work machine status condition may be set manually by the worker operating the information processing device 40 (input unit 41) (see FIG. 15). The work machine status condition may be automatically set in the controller 50. For example, the controller 50 receives information of a work machine 10 (a work machine 10 used for teaching) connected to the information processing device 40 from this work machine 10. The controller 50 may then set the received information of the work machine 10 as the work machine status condition.

[0180] A further specific example of setting the work machine status conditions will be described below. As shown in FIG. 15, the controller 50 causes the output unit 43 to display a work machine registration screen. The work machine registration screen is a screen for setting information of the work machine 10, and is also a screen for setting work machine status conditions. In the example shown in FIG. 15, the work machine registration screen is a screen (heavy equipment information registration screen, connection screen) for setting information (work machine status conditions) of the connected work machine 10 when the information processing device 40 and the work machine 10 are connected. Note that the controller 50 may cause the output unit 43 to display the work machine registration screen at a time different from when the information processing device 40 and the work machine 10 are connected. The work machine registration screen includes, for example, a model information setting display unit G4 and a model information registration selection unit B16a.

[0181] The model information setting display unit G4 is a display (work machine status condition setting unit) for allowing the worker to set the work machine status conditions using the input unit 41. The model information setting display unit G4 is a display for allowing the worker to set the above-mentioned "information on the model of the work machine 10". The model information setting display unit G4 may be capable of setting the work machine status conditions (model information) by allowing the worker to directly input (for example, character input) the work machine status conditions. The model information setting display unit G4 may be capable of setting the work machine status conditions by allowing the worker to select the work machine status conditions from options. In the example shown in FIG. 15, the model of the work machine 10 (specifically, class, tonnage) (one example of a work machine status condition) may be set by character input or may be selected from options. Also, in this example, the type of attachment 15 (specifically, boom specification, arm specification) (one example of a work machine status condition) may be selected from options.

[0182] The controller 50 may automatically reflect, in the model information setting display section G4, information on the work machine 10 received from the work machine 10 connected to the information processing device 40. Furthermore, the controller 50 may change the information (work machine status conditions) automatically reflected in the model information setting display section G4 in response to manual operation by the worker.

[0183] The model information registration selection section B16a displays the content set in the model information setting display section G4 so that it can be selected by the input section 41 to be registered (determined, set) as a work machine status condition.

[0184] The items of the work machine status condition may be increased or decreased (added or deleted) at the worker's discretion. The worker may be able to add new items at his / her discretion other than the items prepared in advance in the model information setting display section G4 (model, boom specifications, arm specifications in FIG. 15) (see "Add tag" in FIG. 15). Also, the worker may be able to delete items of the work machine status condition at his / her discretion.

[0185] The surrounding situation condition is a condition for whether or not work information can be set that relates to the surrounding situation (surrounding situation) of the work machine 10. The surrounding situation condition is a condition for whether or not work information can be set that relates to the surrounding information A shown in FIG. 5. Here, for example, if work information D that is suitable for certain surrounding situations is applied to work of the work machine 10 in surrounding situations that are not suitable for this work information D, a problem may occur in which the work of the work machine 10 is not performed appropriately. For example, if there is a significant difference between the surrounding situation when the work information D is registered and the surrounding situation when the work information D is about to be applied (when the call is set), the work of the work machine 10 based on this work information D may not be performed appropriately. Therefore, it is preferable to set a condition for the surrounding situation of the work machine 10 (surrounding situation condition) as a condition for whether or not work information can be set.

[0186] The contents (items) of the surrounding situation condition can be set in various ways. The surrounding situation condition may be all or a part of the surrounding information A (e.g., visual information V) stored as preset data. Specifically, the surrounding situation condition may include a condition of the situation (position, presence or absence, etc.) of the topography A1 (e.g., a pile of dirt A1a, etc.) at the work site. The surrounding situation condition may include a condition of the situation (position, presence or absence, etc.) of an object A5 (e.g., a dirt pit A5a (see FIG. 9), etc.) placed at the work site. The surrounding situation condition may include a condition of the situation (position, presence or absence, etc.) of an obstacle (one example of an object A5).

[0187] The surrounding situation condition is set, for example, as follows: When the work information D is set, the surrounding information A is acquired, and the acquired surrounding information A (specifically, all or a part of the surrounding information A) is set as the surrounding situation condition. As described above, the surrounding information A may be information detected by the imaging device 30 (see FIG. 1) (e.g., LiDAR, etc.), or may be information different from the information detected by the imaging device 30 (e.g., map information of the work site, etc.).

[0188] The work information setting availability condition may include a condition different from the work machine status condition and the surrounding status condition. The items of the work information setting availability condition may be increased or decreased at the worker's discretion (see "Add tag" in Fig. 8 and Fig. 15). The work information setting availability condition may be set separately from the work information D. Then, the work information setting availability condition set separately from the work information D may be linked to the work information D and set as the work information setting availability condition corresponding to this work information D.

[0189] (Acquisition of current status (step S482)) The controller 50 acquires the current situation (step S482 in FIG. 17). The current situation is the situation at the time when the work information D is selected. "At the time when the work information D is selected" is the time when the work information D to be applied to the work of the work machine 10 is about to be selected (step S91 in FIG. 3). Specifically, as shown in FIG. 7, "at the time when the work information D is selected" may be before (for example, immediately before) the controller 50 displays the work information D (preset data) on the output unit 43 so as to be selectable by the input unit 41, or may be during this display. The current situation includes the current work machine situation and the current surrounding situation.

[0190] The current work machine status is a current status corresponding to a work machine status condition. The contents (items) and acquisition method of the current work machine status are the same as the contents (items) and acquisition method of the work machine status condition. For example, the current work machine status may be set by manual operation of the worker, or may be automatically set by the controller 50. Specifically, for example, as shown in FIG. 15, when the work machine 10 to which the work information D is to be applied is connected to the information processing device 40 (when communication starts, when heavy equipment information is registered), the controller 50 may display a work machine registration screen on the output unit 43. Then, the information of the work machine 10 set on the work machine registration screen may be set as the current work machine status.

[0191] The current surrounding situation is a current situation corresponding to the surrounding situation condition. The contents (items) and acquisition method of the current surrounding situation are the same as the contents (items) and acquisition method of the surrounding situation condition. For example, when the work information D is selected (step S91 in FIG. 3, see FIG. 7), the surrounding information A (see FIG. 5) is acquired. As described above, the surrounding information A may be information detected by the imaging device 30 (see FIG. 1) (e.g., LiDAR, etc.), or may be information different from the information detected by the imaging device 30 (e.g., map information of the work site, etc.). All or a part of this surrounding information A may be set as the current surrounding situation.

[0192] (Determination (Step S485)) The controller 50 judges for each piece of work information D whether or not the work information D can be applied to the work of the work machine 10 (step S92 in FIG. 3) (step S485 in FIG. 17). When a plurality of pieces of work information D are set (stored), the controller 50 judges for each of the plurality of pieces of work information D (individually) whether or not it can be applied to the work of the work machine 10. When only one piece of work information D is set (stored), the controller 50 judges for this one piece of work information D whether or not it can be applied to the work of the work machine 10. The case where the controller 50 judges only one piece of work information D is also included in the above "judging for each piece of work information D". Specifically, the controller 50 judges (compares) for each piece of work information D whether or not the current situation satisfies the work information setting availability condition, thereby judging for each piece of work information D whether or not the work information D can be applied to the work of the work machine 10.

[0193] The criteria for determining whether the current situation satisfies the work information setting condition can be set in various ways. For example, when multiple conditions constituting the work information setting condition are set, the controller 50 may determine that the work information setting condition is satisfied when all of the multiple conditions constituting the work information setting condition are satisfied. For example, the controller 50 may determine that the work information setting condition is not satisfied when even one of the multiple conditions constituting the work information setting condition is not satisfied.

[0194] The determination of whether or not the work information setting condition is satisfied is made from the perspective of whether or not the work machine 10 can perform the work appropriately, assuming that the work information D is applied to the work of the work machine 10 (step S92 in FIG. 3). A specific example of this determination is as follows.

[0195] (Determination of work machine status conditions) The controller 50 may determine whether or not the current situation satisfies the work information settable condition by determining whether or not a work machine situation condition is satisfied.

[0196] [Determination Example 1] For example, the controller 50 may make a determination based on whether or not the work machine status set as the work machine status condition matches the current work machine status. For example, the controller 50 may make a determination based on whether or not the model of the work machine 10 and the type of the attachment 15 set as the work machine status condition match the current model of the work machine 10 and the type of the attachment 15. If the work machine status set as the work machine status condition matches the current work machine status, the controller 50 may determine that the work machine status condition is satisfied. If the work machine status set as the work machine status condition does not match the current work machine status, the controller 50 may determine that the work machine status condition is not satisfied.

[0197] [Determination Example 2] Even if the work machine status set as the work machine status condition does not match the current work machine status, there may be cases where the controller 50 determines that the work machine status condition is satisfied. For example, assuming that the work machine 10 operates in accordance with the work information D shown in Fig. 5, if the work machine 10 is able to perform work appropriately, the controller 50 may determine that the work machine status condition is satisfied. A specific example of this is as follows.

[0198] It is assumed that the class of the work machine 10 (one example of a work machine status condition) and the work position W (e.g., work range Wa, target route Wp, etc.) are set as the work information D. The class of the work machine 10 (current work machine 10) to which the work information D is to be applied is different (higher or lower) from the class set as the work machine status condition. Even in this case, there are cases where the current work machine 10 is capable of working according to the work information D (there are cases where operation according to the work information D is feasible). For example, if the work position W set as the work information D is within the work range of the current work machine 10 (within the reach of the attachment 15), there is a possibility that the current work machine 10 will be able to work according to the work information D. In addition, if the work machine 10 does not interfere with the surrounding objects A5 (excluding the work target object) when it moves according to the work information D, there is a possibility that the current work machine 10 will be able to work according to the work information D.

[0199] Also, as shown in FIG. 12, it is assumed that the class of the work machine 10 (one example of a work machine status condition) and a restricted area R of the position where the work machine 10 works are set as the work information D. Specifically, for example, it is assumed that the restricted area upper surface Ra is set at the position of the ceiling. Then, it is assumed that the class of the work machine 10 (current work machine 10) to which the work information D is to be applied is different (for example, larger) from the class set as the work machine status condition. In this case, even if the current work machine 10 works according to the work information D, there are cases where the restricted target portion 10r of the work machine 10 does not enter the restricted area R (or does not approach the restricted area R to within a predetermined distance). Specifically, for example, even if the current work machine 10 works according to the work information D, the work machine 10 is not restricted by the restricted area upper surface Ra, and for example, there is a possibility that the work machine 10 does not come into contact with the ceiling. As described above, even if the class of the work machine 10 set as the work machine status condition does not match the current class of the work machine 10, if the work machine 10 is capable of working according to the work information D, the controller 50 may determine that the work machine status condition is satisfied.

[0200] As in the above [Determination Example 1], the controller 50 may determine that the work machine status condition is satisfied only when the work machine status set as the work machine status condition and the current work machine status match. Also, as in the above [Determination Example 2], the controller 50 may determine that the work machine status condition is satisfied if a predetermined condition is satisfied even if they do not match. The controller 50 may be able to switch between making the determination of the above [Determination Example 1] and making the determination of the above [Determination Example 2]. For example, this switching of the determination may be performed by an operator operating the input unit 41 (manual operation). Specifically, this switching of the determination may be performed by the presence or absence of a check in a check box displayed on the output unit 43. Also, this switching of the determination may be performed automatically by the controller 50 in accordance with some condition.

[0201] (Judgment of ambient conditions) The controller 50 may determine whether the current situation satisfies the work information setting condition by determining whether the surrounding situation condition is satisfied.

[0202] For example, the controller 50 may make the determination based on the difference between the current surrounding situation (current surrounding information A) and the surrounding situation (surrounding information A) set as the surrounding situation condition. If the difference between the current surrounding situation (current surrounding information A) and the surrounding situation (surrounding information A) set as the surrounding situation condition is within a predetermined range (if the difference is small), the controller 50 may determine that there is a possibility that the surrounding situation condition is satisfied. If this difference is outside the predetermined range (if the difference is large), the controller 50 may determine that the surrounding situation condition is not satisfied. This "predetermined range" is set in advance (before the determination) in the controller 50. Specifically, the controller 50 may make this determination based on the difference between the position of the work machine 10 at the time when the work information D was set and the current position of the work machine 10. For example, the controller 50 may make this determination based on the difference between the target position T and the alignment target part U shown in FIG. 10.

[0203] The controller 50 may determine whether or not the surrounding situation condition is satisfied based on whether or not the work machine 10 interferes with an obstacle (object A5) around the work machine 10 when it is assumed that the work machine 10 moves according to the work information D shown in FIG. 5. The controller 50 may determine that the surrounding situation condition is likely to be satisfied when the work machine 10 does not interfere with an obstacle (object A5) around the work machine 10. The controller 50 may determine that the surrounding situation condition is not satisfied when the work machine 10 interferes with an obstacle (object A5) around the work machine 10. For example, the controller 50 may make this determination based on whether or not an obstacle that did not exist when the work information D was set is present at the work position W. In the example shown in FIG. 5, the controller 50 may make this determination based on whether or not an obstacle is present at one or more positions among the capture work position Wa1 (work start point), the release work position Wa3 (work end point), and the target route Wp in the current surrounding situation.

[0204] The controller 50 may determine whether the surrounding situation condition is satisfied based on whether the work machine 10 is able to work on the work object when it is assumed that the work machine 10 has moved according to the work information D. The controller 50 may determine that there is a possibility that the surrounding situation condition is satisfied if the work machine 10 is able to work on the work object. The controller 50 may determine that the surrounding situation condition is not satisfied if the work machine 10 is unable to work on the work object. In the example shown in FIG. 5, the controller 50 may make this determination based on whether there is a predetermined amount of work object at the capture work position Wa1. The controller 50 may make this determination based on whether there is a predetermined amount or more of margin (space) in which the work object can be released at the release work position Wa3. The above-mentioned "predetermined amount" is set in advance (before the determination) in the controller 50.

[0205] (Whether or not work information D can be set (steps S485y, S485n)) As described above, the controller 50 judges whether or not the current situation satisfies the work information setting availability condition for each piece of work information D (step S485 in FIG. 17). Then, the controller 50 makes the work information D, for which the current situation satisfies the work information setting availability condition, settable as the work information D to be used for the work of the work machine 10 (step S485y). That is, the controller 50 makes this work information D applicable to the work of the work machine 10 (step S92 in FIG. 3). Hereinafter, the work information D that can be set (applied) as the work information D of the work machine 10 is also simply referred to as "settable work information D". Furthermore, the controller 50 makes the work information D, for which the current situation does not satisfy the work information setting availability condition, not settable as the work information D to be used for the work of the work machine 10 (step S485n). That is, the controller 50 makes this work information D not applicable to the work of the work machine 10 (step S92 in FIG. 3). Hereinafter, work information D that cannot be set (applied) as work information D of the work machine 10 will also be simply referred to as "unsettable work information D".

[0206] When the controller 50 determines that work information D can be set for the work of the work machine 10 (step S485y), it performs, for example, the following process. The controller 50 causes the output unit 43 to display the settable work information D so that it can be selected by the input unit 41 on the preset data selection screen (list selection screen) shown in Fig. 7 (specifically, the work information selection unit B7). For example, when the work information selection determination unit B9 is selected with the settable work information D selected by the input unit 41, the controller 50 sets (applies) this work information D to the work of the work machine 10 (step S92 in Fig. 3).

[0207] When the controller 50 determines that the work information D cannot be set for the work of the work machine 10 (step S485n), the controller 50 performs, for example, the following process. The controller 50 may not display the work information D that cannot be set on the output unit 43 on the preset data selection screen (specifically, the work information selection section B7). The controller 50 may display the work information D that cannot be set on the output unit 43 on the preset data selection screen, but may make the work information D that cannot be set unselectable by the input unit 41. In this case, the controller 50 may display the work information D that can be set and the work information D that cannot be set on the output unit 43 so that the worker can distinguish between them. Specifically, the controller 50 may display the work information D that cannot be set on the output unit 43, for example, by graying it out. In detail, the controller 50 may make the image of the work information selection section B7 of the work information D that cannot be set an image with lower brightness compared to the image of the work information selection section B7 of the work information D that can be set. Furthermore, the controller 50 may cause the output unit 43 to display (for example, gray out) the work information D that cannot be set, and make it selectable by the input unit 41, but may not be set (applied) to work of the work machine 10. When the work information D that cannot be set is selected by the input unit 41, the controller 50 may cause the output unit 43 to output a notification regarding the work information D that cannot be set (notification that setting is not possible) (step S486 in FIG. 17).

[0208] (Notification of impossibility of setting (step S486)) As shown in Fig. 16, the controller 50 may cause the output unit 43 to output a setting impossible notification. The setting impossible notification is a notification that shows the worker information related to the work information D (see Fig. 7) that cannot be set. For example, when the work information D that cannot be set and is displayed (for example, displayed as grayed out) on the output unit 43 is selected, the controller 50 causes the output unit 43 to output the setting impossible notification. The setting impossible notification may include a display notification (setting impossible notification screen) or may include a sound notification.

[0209] Specific examples of the contents of the setting impossible notification are as follows. In the example shown in Fig. 16, the controller 50 indicates that the selected work information D ("that preset" in Fig. 16) cannot be set for the work of the work machine 10 in the current situation ("this site" in the figure). The controller 50 may also indicate the reason why the selected work information D cannot be set for the work of the work machine 10. The controller 50 may also indicate how the current situation must change (change) in order for the selected work information D to be able to be set for the work of the work machine 10.

[0210] For example, if the work position W shown in FIG. 5 is corrected, it may be possible to set the selected work information D for the work of the work machine 10. Specifically, there may be an obstacle on the target path Wp, but if the target path Wp is corrected to avoid the obstacle, it may be possible to set the corrected work information D for the work of the work machine 10. In such a case, the controller 50 may notify (suggest) the worker to select whether or not to correct the work position W. In detail, the controller 50 may display on the output unit 43 so that the worker can select on the input unit 41 whether or not to correct the work position W. In this case, the controller 50 may display on the output unit 43 the corrected work position W (for example, the corrected target path Wp, etc.). If it is selected to correct the work position W, the controller 50 may correct the work position W, and set the work information D including the corrected work position W for the work of the work machine 10.

[0211] After causing the output unit 43 to output the setting impossible notification shown in FIG. 16, the controller 50 returns the screen displayed on the output unit 43 to the preset data selection screen shown in FIG.

[0212] (Effects of the seventh aspect of the invention) The effects of the work information setting system 401 shown in FIG. 15 are as follows.

[0213] The work information setting control (controller 50) sets the work information setting availability condition (step S481 in Fig. 17). The work information setting availability condition is a condition set for each piece of work information D, and includes conditions for one or both of the situation of the work machine 10 and the situation around the work machine 10. The work information setting control determines for each piece of work information D whether the current situation (see step S482 in Fig. 17), which is the situation at the time of selection of the work information D, satisfies the work information setting availability condition (step S485 in Fig. 17).

[0214] [Configuration 7-1] The work information setting control enables work information D whose current situation satisfies the work information setting condition to be set as work information D to be used for work by the work machine 10 (step S485y in FIG. 17).

[0215] [Configuration 7-2] The work information setting control makes it impossible to set work information D whose current situation does not satisfy the work information setting availability condition as work information D to be used for work by the work machine 10 (step S485n in FIG. 17).

[0216] According to the above [Configuration 7-1], when the current situation satisfies the work information setting possibility condition of certain work information D, this work information D can be set as the work information D to be used for work of the work machine 10. As a result, the work of the work machine 10 can be appropriately performed using the work information D. According to the above [Configuration 7-2], when the current situation does not satisfy the work information setting possibility condition of certain work information D, this work information D cannot be set as the work information D to be used for work of the work machine 10. As a result, it is possible to prevent the work machine 10 from performing work using work information D that is not suitable for the current situation (e.g., incorrect).

[0217] (Modification) The above embodiment may be modified in various ways. For example, all or part of the different embodiments may be combined in various ways. For example, modified versions of the above embodiment may be combined in various ways. For example, the number of components (including modified versions) of the above embodiment may be changed, and some of the components may not be provided. For example, the components may be fixed or connected directly or indirectly. For example, the connection of each component shown in FIG. 2 may be changed. For example, the arrangement of the components may be changed. For example, the inclusion relationship of the components may be changed in various ways. For example, a component described as a lower component included in a higher-level component may not be included in this higher-level component, and may be included in another component. For example, a component described as a plurality of different members or parts may be treated as a single member or part. For example, a component described as a single member or part may be provided as a plurality of different members or parts. For example, the order of the steps in the flow charts shown in FIG. 3, FIG. 14, and FIG. 17 may be changed, and some of the steps may not be performed. For example, the controller 50 (see FIG. 2) may perform substantially the same processing (calculation, determination, etc.) as the processing (calculation, determination, etc.) of the above embodiment (including modified examples). Various processing may be combined in various ways. For example, each component may have only a part of each feature (function, arrangement, shape, operation, etc.). [Explanation of symbols]

[0218] 1, 201, 301, 401 Work information setting system 10. Working Machinery 41 Input section 43 Output section 50b Storage section D. Work Information R Restriction region T target position W Working position

Claims

1. an input unit to which information used for the work information setting control is input; An output unit that outputs information of the work information setting control; Equipped with The work information setting control includes: Setting work information including position information used when the work machine is performing work; The set work information is stored in a storage unit, displaying the work information stored in the storage unit on the output unit in a manner selectable by the input unit; setting the work information selected by the input unit as the work information to be used for the work of the work machine; Work information setting system.

2. The work information setting system according to claim 1, The work information setting control includes: storing a plurality of pieces of work information in the storage unit; Work information setting system.

3. The work information setting system according to claim 2, The work information setting control includes: Linking the plurality of pieces of work information with each other, the pieces of work information being related to different types of work; Work information setting system.

4. The work information setting system according to claim 1, The work information setting control includes: storing visual information corresponding to the set work information in the storage unit and displaying the visual information in the output unit; Work information setting system.

5. The work information setting system according to claim 1, the work information setting control causes the output unit to output guidance for moving the work machine to a target position which is a position where the work machine is to be located when the work information is used. Work information setting system.

6. The work information setting system according to claim 1, the work information includes a restriction area that is an area for restricting a position where the work machine works, and information on a work position used when the work machine works, The work information setting control links the restricted area with information on the work position. Work information setting system.

7. The work information setting system according to claim 1, The work information setting control includes: A work information setting condition is set, the condition being set for each piece of work information, and including a condition for one or both of a status of the work machine and a status around the work machine; determining whether or not a current situation, which is the situation at the time of selecting the work information, satisfies the work information setting condition for each of the work information; The work information, the current status of which satisfies the work information setting condition, can be set as the work information to be used for work by the work machine; The work information in which the current state does not satisfy the work information setting condition cannot be set as the work information to be used for work by the work machine. Work information setting system.

8. a work information setting step for setting work information including position information used when the work machine performs work; a storage step of storing the work information set in the work information setting step in a storage unit; a display selection step of displaying the work information stored in the storage step on an output unit so as to be selectable by an input unit; an application step of setting the work information selected in the display selection step as the work information to be used for work by the work machine; to cause a computer to execute Work information setting program.

9. a work information setting step for setting work information including position information used when the work machine performs work; a storage step of storing the work information set in the work information setting step in a storage unit; a display selection step of displaying the work information stored in the storage step on an output unit so as to be selectable by an input unit; an application step of setting the work information selected in the display selection step as the work information to be used for work by the work machine; Equipped with How to set up work information.

Images